From 823adac42f708d59594b867648642762265bbd25 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Tue, 6 Sep 2022 10:01:01 -0400 Subject: [PATCH] [WIP] lightware_laser_i2c startup timing debug --- .../lightware_laser_i2c/lightware_laser_i2c.cpp | 15 ++++++++++++++- 1 file changed, 14 insertions(+), 1 deletion(-) diff --git a/src/drivers/distance_sensor/lightware_laser_i2c/lightware_laser_i2c.cpp b/src/drivers/distance_sensor/lightware_laser_i2c/lightware_laser_i2c.cpp index eebd34ae51..96b37ded79 100644 --- a/src/drivers/distance_sensor/lightware_laser_i2c/lightware_laser_i2c.cpp +++ b/src/drivers/distance_sensor/lightware_laser_i2c/lightware_laser_i2c.cpp @@ -456,7 +456,20 @@ extern "C" __EXPORT int lightware_laser_i2c_main(int argc, char *argv[]) BusInstanceIterator iterator(MODULE_NAME, cli, DRV_DIST_DEVTYPE_LIGHTWARE_LASER); if (!strcmp(verb, "start")) { - return ThisDriver::module_start(cli, iterator); + + for (int i = 0; i < 20; i++) { + int ret = ThisDriver::module_start(cli, iterator); + if (ret != 0) { + PX4_ERR("%llu: start failed", hrt_absolute_time()); + usleep(50000); + + } else { + PX4_INFO("%llu: start succeeded", hrt_absolute_time()); + return 0; + } + } + + return -1; } if (!strcmp(verb, "stop")) {